Person detection and tracking package designed for for use with Intel RealSense cameras under ROS.
http://www.intel.com/realsense
The Intel® RealSense™ ROS Person Project is developed and distributed under a BSD license as noted in licenses/License.txt.
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#Alpha Release
##Configuration:
| Version | Best Known (kinetic) |
|---|---|
| OS | Ubuntu 16.04 LTS |
| Kernel | 4.4.0-45-generic |
| librealsense_persontracking | Beta3 |
##Building this Package from Source: Note: ROS beginners, please ensure that the basic ROS environment and catkin workspace has been set up by following the instructions at http://wiki.ros.org/ROS/Installation.
Prerequisite: Successful build and use of this ROS package assumes you have already installed the Person-Tracking Middleware.
Install the package and its dependent packages as follows:
- Clone the repo in the
srcdirectory of your catkin workspace. - Install the dependent packages using the command
rosdep install --from-paths src/realsense_person. - Build the package using the command
catkin_make. - Validate the installation by running one of the launch files.
##Package Features:
###Launch files
person_sample.launch
Launches the ROS R200 nodelet and the Person nodelet.
Note: This is a sample using the RealSense R200 camera.
If you are using any other RealSense camera that is supported by the realsense_camera package,
update the camera_type argument with the corresponding value.
###Subscribed Topics
color/camera_info (sensor_msgs/CameraInfo)
depth/camera_info (sensor_msgs/CameraInfo)
depth/image_raw (sensor_msgs/Image)
color/image_raw (sensor_msgs/Image)
###Published Topics
detection_data (realsense_person/PersonDetection)
Contains the basic information of all the people detected in a frame. If a person is being tracked, it will return the information of only that person.
detection_image (sensor_msgs/Image)
Contains the "detection_data" overlayed on the corresponding color image frame.
tracking_data (realsense_person/PersonTracking)
Contains detailed information of the person being tracked. Note: Use the "start_tracking_person" service to start tracking a person. If a person is not being tracked, this topic will not be published.
The information contained in this topic can be controlled using the parameters "enable_head_bounding_box", "enable_face_landmarks", "enable_gestures" and "enable_skeleton_joints". Due to performace implications, only some of these parameters are enabled by default.
Note: Enable these parameters on a "need-to" basis as they are compute intensive and may lead to unstable data. Refer to the Dynamic Parameters section below for details regarding these parameters.
tracking_image (sensor_msgs/Image)
Contains the "tracking_data" overlayed on the corresponding color image frame. Refer to the "tracking_data" topic for more details.
###Services
get_tracking_state (realsense_person/GetTrackingState)
Returns the tracking state. If nobody is being tracked, it will return the list of tracking_ids of all the detected people. If a person is being tracked, it will return the tracking_id of just that person.
register_person (realsense_person/Register)
Assigns a unique recognition id for the specified person and saves the person's descriptor features.
recognize_person (realsense_person/Recognize)
Returns the recognition id if the specified person has been registered.
reinforce_person (realsense_person/Reinforce)
Saves a new set of descriptor features for the specified person.
start_tracking_person (realsense_person/StartTracking)
Enables the tracking feature in the middleware and starts tracking a person based on tracking_id. This service must be called in order to generate data for the "tracking" related topics.
stop_tracking (realsense_person/StopTracking)
Stops tracking and disables the tracking feature in the middleware.
###Custom Messages Refer to the defintion at (Custom Messages).
###Static Parameters
subscribe_rate (default: 30)
Controls the subscription rate of the color and depth topics. To reduce latency, the user is not given a separate rate control for publishing topics. Instead, the package will try to publish topics at the subscribe_rate. Note: The latency in publishing messages is also proportional to the features enabled by the user.
###Dynamic Parameters
enable_recognition (default: true)
Enables the "recognition" feature in the middleware.
enable_head_bounding_box (default: false)
Enables the "head bounding box" feature in the middleware.
enable_face_landmarks (default: false)
Enables the "face landmarks" feature in the middleware.
enable_gestures (default: false)
Enables the "gesture" feature in the middleware.
Note: The "gesture" feature is currently in development phase and not fully stable.
enable_skeleton_joints (default: false)
Enables the "skeleton joints" feature in the middleware.
###Coordinates and Units The "image" points are pixel points where origin (0,0) is the top-left corner of the image with positive x-axis pointing to right and positive y-axis pointing down.
The "world" points are points in meters where the origin (0,0) is the center of the color camera with positive x-axis pointing to right, positive y-axis pointing down and positive z-axis pointing forward, with respsect to the camera's view.
###Unit Tests
Refer to Unit Tests for the .test files.
Run the unit tests using the command rostest realsense_person <test file>.